In this paper, the robot gait planning in RoboCup is summarized. On the basis of introduction of NAO model and robot kinematics, through the analysis of the NAO model in RoboCup3D, the robot kinematics model is established, trajectory of robot walking process is planned, and according to the stability criterion of humanoid, the constraint condition is added to the trajectory. The theories of Center of Gravity and Zero Moment Point (ZMP) are given as well.%综述了RoboCup中机器人的步态规划。首先介绍了Nao模型和机器人运动学，以此为基础，通过对RoboCup3D中采用的Nao模型的分析，建立机器人运动学模型，规划其步行过程的轨迹，再根据稳定性判别依据，添加步态稳定的约束条件，并介绍了重力投影点与ZMP。
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